CN110899181A - Transformer substation post insulator cleaning robot and application method thereof - Google Patents
Transformer substation post insulator cleaning robot and application method thereof Download PDFInfo
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- CN110899181A CN110899181A CN201911174160.7A CN201911174160A CN110899181A CN 110899181 A CN110899181 A CN 110899181A CN 201911174160 A CN201911174160 A CN 201911174160A CN 110899181 A CN110899181 A CN 110899181A
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- 239000012212 insulator Substances 0.000 title claims abstract description 133
- 238000004140 cleaning Methods 0.000 title claims abstract description 63
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 107
- 230000009194 climbing Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims description 17
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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Abstract
The invention discloses a transformer substation post insulator cleaning robot and an application method thereof, wherein a robot body of the transformer substation post insulator cleaning robot comprises a group of electric push rods, the upper ends of the electric push rods are commonly connected with an upper supporting mechanism, the lower ends of the electric push rods are commonly connected with a lower supporting mechanism, a plurality of clamping components which are arranged in a surrounding mode and used for clamping the edge of an insulator are arranged on the upper supporting mechanism and the lower supporting mechanism, at least one of the upper supporting mechanism and the lower supporting mechanism is provided with a cleaning component used for cleaning the outer wall of the insulator, the supporting on the insulator can be realized by utilizing the plurality of clamping components, the climbing on the insulator can be realized by utilizing the upper supporting mechanism, the lower supporting mechanism and the group of electric push rods, the cleaning operation on the surface of the insulator can be realized by utilizing the cleaning components.
Description
Technical Field
The invention relates to the technology of special electric power operation robots, in particular to a post insulator cleaning robot for a transformer substation and an application method of the post insulator cleaning robot.
Background
The post insulator of the transformer substation is in the open air for a long time, so that dust is easily attached to the surface of the post insulator, and the insulating capability of the post insulator is reduced. Under the condition of wet weather, the dirty insulator is easy to generate flashover discharge, namely pollution flashover, so that power failure accidents are caused, and the safety power supply is threatened. Cleaning the accumulated dirt of the insulator is one of the main work of the overhaul and maintenance of the transformer substation. At present, the insulator is cleaned by manually climbing a rod during the power failure maintenance of a transformer substation and using a brush or a cleaning cloth, the cleaning mode is dangerous and severe in operation environment, the cleaning task is heavy, the power failure time is short, and the cleaning quality is difficult to guarantee. For ultrahigh voltage and extra-high voltage substations, because the insulator strings are long and the number of the insulator strings is large, the manual cleaning task is heavier, and because the coordination power failure difficulty is high, the insulator surface pollution accumulation is serious and the safe and stable operation of the substation is seriously influenced, which is caused by the fact that the insulator cannot be cleaned in time.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: aiming at the problems in the prior art, the invention provides the transformer substation post insulator cleaning robot and the application method thereof.
In order to solve the technical problems, the invention adopts the technical scheme that:
the utility model provides a post insulator of transformer substation cleans machine people, includes the robot body, the robot body includes a set of electric putter, electric putter's upper end is connected with supporting mechanism, lower extreme jointly and is connected with lower supporting mechanism, all be equipped with on last supporting mechanism, the lower supporting mechanism and encircle and arrange a plurality of clamping components with the centre gripping insulator edge, at least one of them has the subassembly that cleans that is used for cleaning the insulator outer wall in going up supporting mechanism, lower supporting mechanism.
Optionally, go up supporting mechanism and include the annular upper support of splicing by two semi-rings, lower supporting mechanism includes the annular lower floor's support of splicing by two semi-rings, the semi-ring of upper support and lower floor's support links to each other through electric putter respectively makes the split type structure that two parts can be split about the robot constitutes, be connected with a flexible auto-lock subassembly between two semi-rings of upper support, be connected with another flexible auto-lock subassembly between two semi-rings of lower floor's support.
Optionally, the telescopic self-locking assembly comprises a self-locking bolt and a sleeve which are matched with each other, a self-locking nut is arranged on the sleeve, the self-locking nut and the self-locking bolt are in threaded fit, one of the self-locking bolt and the sleeve is provided with a rotating motor, and the rotating motor is used for driving one of the self-locking bolt and the sleeve to rotate so that the distance between the self-locking bolt and the sleeve is shortened or lengthened to realize the aperture adjustment of the annular split joint of the two half rings.
Optionally, a sliding groove or a sliding rail arranged along the length direction is formed in the sleeve, a movable baffle is arranged on the sliding groove or the sliding rail in a sliding mode, a spring is arranged between the inner side wall of the movable baffle and the inner wall of the sleeve, and the self-locking nut is fixedly installed on the outer side wall of the movable baffle.
Optionally, at least one of the electric push rod, the upper supporting mechanism and the lower supporting mechanism is provided with at least one clamping state monitoring camera at the position of the telescopic self-locking assembly.
Optionally, the clamping assembly is an arc-shaped clamping piece, and an insulator umbrella skirt locating slot arranged along the length direction is arranged on the inner side clamping surface of the clamping assembly.
Optionally, the cleaning assembly comprises an arc-shaped rail and a sliding seat arranged on the side face of the arc-shaped rail in a sliding mode, the sliding seat is matched with the arc-shaped rail through a gear and a rack, a first driving motor used for driving the sliding seat to move is installed between the sliding seat and the arc-shaped rail, a cleaning motor is installed on the sliding seat, and a brush roller is installed on an output shaft of the cleaning motor.
Optionally, at least one detection camera is further arranged on the top surface of the arc-shaped rail in a sliding manner, the detection camera and the arc-shaped rail are matched through a gear and a rack, and a second driving motor for driving the detection camera to move is installed between the detection camera and the arc-shaped rail.
Optionally, still include the supplementary handling mechanism in ground, the supplementary handling mechanism in ground includes supporting platform, lifting and drop rotating assembly and flexible subassembly and is used for the body loading and unloading subassembly of loading and unloading robot body, body loading and unloading subassembly passes through flexible subassembly and installs on lifting and drop rotating assembly, lifting and drop rotating assembly installation supporting is on supporting platform, body loading and unloading subassembly includes the base, the both sides of base respectively are equipped with one and open and shut the telescopic part, the support arm is installed to the tip that opens and shuts the telescopic part, and two support arm mutual dispositions, and is equipped with the centre gripping subassembly that is used for supporting mechanism or under bracing mechanism on the centre gripping on each support arm.
In addition, the invention also provides an application method of the transformer substation post insulator cleaning robot, which comprises a climbing step of the robot body along the insulator of the transformer substation post, wherein the climbing decomposition step comprises the following steps:
b1, firstly clamping the clamping component of the lower support mechanism to the umbrella skirt edge of the insulator, then loosening the clamping component of the upper support mechanism to the umbrella skirt edge of the insulator, and then extending the electric push rod to enable the position of the upper support mechanism to be lifted;
and B2, firstly clamping the clamping assembly of the upper supporting mechanism to the umbrella skirt of the insulator, then loosening the clamping assembly of the lower supporting mechanism to the umbrella skirt of the insulator, and then contracting the electric push rod, so that the position of the lower supporting mechanism and the overall position of the robot body are lifted.
Compared with the prior art, the invention has the following advantages: the robot body comprises a group of electric push rods, wherein the upper ends of the electric push rods are commonly connected with an upper supporting mechanism, the lower ends of the electric push rods are commonly connected with a lower supporting mechanism, a plurality of clamping components which are arranged in a surrounding mode and used for clamping the edge of an insulator are arranged on the upper supporting mechanism and the lower supporting mechanism, at least one of the upper supporting mechanism and the lower supporting mechanism is provided with a cleaning component used for cleaning the outer wall of the insulator, the supporting on the insulator can be realized by the aid of the plurality of clamping components, the climbing on the insulator can be realized by the aid of the upper supporting mechanism, the lower supporting mechanism and the group of electric push rods, the cleaning operation on the surface of the insulator can be realized by the cleaning component.
Drawings
Fig. 1 is a schematic perspective view of a robot body according to an embodiment of the present invention.
Fig. 2 is a schematic longitudinal sectional structural view of the telescopic self-locking assembly according to the embodiment of the invention.
Fig. 3 is a cross sectional structural diagram of a sleeve of the telescopic self-locking assembly in an embodiment of the invention.
Fig. 4 is a schematic structural diagram of a ground auxiliary loading and unloading mechanism in an embodiment of the invention.
FIG. 5 is a schematic structural diagram of a body loading and unloading assembly according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of an operation state of the robot body according to the embodiment of the present invention.
Detailed Description
As shown in fig. 1, the transformer substation post insulator cleaning robot of this embodiment includes the robot body, and the robot body includes a set of electric putter 1, and electric putter 1's upper end is connected with supporting mechanism 2 jointly, and the lower extreme is connected with lower supporting mechanism 3 jointly, all is equipped with on supporting mechanism 2, the lower supporting mechanism 3 to be and encircles a plurality of clamping components 4 of arranging with the centre gripping insulator edge, goes up at least one of supporting mechanism 2, lower supporting mechanism 3 and has the subassembly 5 that cleans that is used for cleaning the insulator outer wall in the two.
As shown in fig. 1, the upper supporting mechanism 2 includes an upper support 21 formed by splicing two half rings into a ring, the lower supporting mechanism 3 includes a lower support 31 formed by splicing two half rings into a ring, the half rings of the upper support 21 and the lower support 31 are connected through an electric putter 1 respectively so that the robot body forms a split structure with two detachable left and right parts, a telescopic self-locking assembly 6 is connected between the two half rings of the upper support 21, and another telescopic self-locking assembly 6 is connected between the two half rings of the lower support 31. The transformer substation post insulator cleaning robot has the insulator cleaning and detecting functions. When climbing, only two insulators are in short circuit connection, and the safety performance is good. The whole body is distributed symmetrically, so that the gravity center deviation can be prevented, and the device has the advantage of compact structure.
As shown in fig. 2, the telescopic self-locking assembly 6 includes a self-locking bolt 61 and a sleeve 62 which are engaged with each other, a self-locking nut 63 is disposed on the sleeve 62, the self-locking nut 63 and the self-locking bolt 61 are engaged with each other by threads, one of the self-locking bolt 61 and the sleeve 62 is provided with a rotating motor 64 (in this embodiment, the sleeve 62 is provided with the rotating motor 64), and the rotating motor 64 is configured to drive one of the self-locking bolt 61 and the sleeve 62 to rotate so that the distance between the two halves is shortened or lengthened to achieve aperture adjustment of the ring shape formed. The self-locking bolt 61 and the sleeve 62 are respectively positioned at the end part of one semi-ring, when the robot body is in a split state, the self-locking bolt 61 and the sleeve 62 are not connected, when the robot body needs to be combined, the self-locking bolt 61 and the sleeve 62 are close to each other, and the driving motor 64 is used for driving the self-locking bolt 61 and the sleeve 62 to rotate, so that the threads of the self-locking nut 63 and the self-locking bolt 61 can be realized, and the self-locking bolt 61 and the sleeve 62 can be locked.
As shown in fig. 2 and fig. 3, a sliding rail 621 (a sliding groove may also be used) arranged along the length direction is arranged inside the sleeve 62, a movable baffle 622 is arranged on the sliding groove or the sliding rail 621 in a sliding manner, a spring 623 is arranged between the inner side wall of the movable baffle 622 and the inner wall of the sleeve 62, and the self-locking nut 63 is fixedly mounted on the outer side wall of the movable baffle 622. When the self-locking bolt 61 is inserted into the sleeve 62, the self-locking nut 63 and the movable baffle 622 are pushed against and slide into the top of the slide rail 621, so that a certain pushing force is formed between the self-locking nut 63 and the self-locking bolt 61 to enable the self-locking nut 63 and the self-locking bolt 61 to be stably matched. When the self-locking nut 63 is completely inserted into the sleeve, the rotating motor 64 drives the sleeve 62 to rotate, and as the sliding rail 621 of the movable baffle 622 is tightly attached to the sliding groove on the inner wall of the sleeve 62 and the self-locking nut 63 is fixed on the movable baffle 622, the self-locking nut 622 rotates along with the sleeve 62 and gradually rises along the thread under the pressure of the spring 623, so that self-locking is completed; and unlocking can be realized by reversing.
In order to realize the monitoring of the clamping state of the robot, at least one clamping state monitoring camera 7 is arranged at the position, located on the telescopic self-locking assembly 6, of at least one of the electric push rod 1, the upper supporting mechanism 2 and the lower supporting mechanism 3. As shown in fig. 1, in this embodiment, a clamping state monitoring camera 7 is respectively disposed on the upper supporting mechanism 2 and the lower supporting mechanism 3, and can be used to identify a flange in the middle of an insulator string, so that a function of automatically crossing a flange obstacle can be realized in a climbing process.
As shown in FIG. 1, the clamping assembly 4 is an arc-shaped clamping piece, and the inner side clamping surface thereof is provided with an insulator umbrella skirt positioning groove 41 arranged along the length direction.
In this embodiment, the upper supporting mechanism 2 and the lower supporting mechanism 3 are both equipped with the cleaning assembly 5, so that the situation of cleaning failure is avoided. As shown in fig. 1, the sweeping assembly 5 includes an arc-shaped rail 51 and a sliding seat 52 slidably disposed on a side surface of the arc-shaped rail 51, the sliding seat 52 and the arc-shaped rail 51 are engaged with each other through a gear and a rack, a first driving motor for driving the sliding seat 52 to move is installed between the sliding seat 52 and the arc-shaped rail 51, a sweeping motor is installed on the sliding seat 52, and a brush roller 53 is installed on an output shaft of the sweeping motor. Every time the climbing motion is finished, the cleaning assembly 5 of the upper supporting mechanism 2 and the lower supporting mechanism 3 rotates inwards for a certain angle, the cleaning assembly 5 rotates left and right under the action of the cooperation of the gear and the rack, and meanwhile, the brush roller 53 rotates at a high speed, so that the lower surface of the upper insulator and the upper surface of the lower insulator can be cleaned simultaneously. In this embodiment, the brush roller 53 of the cleaning assembly 5 employs a tapered roller brush, which can effectively clean the small gap between the skirts of the post insulators.
As shown in fig. 1, a detection camera 54 is further slidably disposed on the top surface of at least one arc-shaped rail 51, the detection camera 54 and the arc-shaped rail 51 are engaged with each other through a gear and a rack, and a second driving motor for driving the detection camera 54 to move is installed between the detection camera 54 and the arc-shaped rail 51. When cleaning the insulator along with cleaning subassembly 5, detect camera 54 and follow and clean subassembly 5 and rotate together, accomplish 360 degrees automated inspection to the insulator piece through image processing work, can gather the image information on insulator surface for detect the insulator state.
The embodiment also comprises a ground auxiliary loading and unloading mechanism 8, the ground auxiliary loading and unloading mechanism 8 is adopted to facilitate the up-and-down stringing of the robot body, the robot is not required to be installed after an operation worker climbs a pole, and dangerous operation is avoided.
As shown in fig. 4, the ground auxiliary attachment/detachment mechanism 8 includes a support platform 81, a lifting/lowering rotation unit 82, a telescopic unit 83, and a body attachment/detachment unit 84 for attaching/detaching the robot body, the body attachment/detachment unit 84 is attached to the lifting/lowering rotation unit 82 via the telescopic unit 83, and the lifting/lowering rotation unit 82 is attached to and supported by the support platform 81. In this embodiment, the supporting platform 81 is a movable platform, such as a trolley with rollers, or a movable platform (such as a trolley with tracks or chains) or a fixed platform as required. In this embodiment, the lifting and rotating assembly 82 includes a rotary platform (a conventional mechanical structure of an engineering machine) and a vertical telescopic mechanism (an electric push rod can be used) which are connected with each other, and the vertical telescopic mechanism is installed on the supporting platform 81 through the rotary platform, so that the lifting and horizontal rotating functions can be realized, and the body assembling and disassembling assembly 84 can be conveniently conveyed to a proper position. In this embodiment, the telescoping assembly 83 is implemented by an electric push rod, which can translate to deliver the body mount assembly 84 to a suitable location.
As shown in fig. 5, the body assembling and disassembling assembly 84 includes a base 841, two sides of the base 841 are respectively provided with an opening and closing telescopic component 842, the end of the opening and closing telescopic component 842 is provided with a supporting arm 843, the two supporting arms 843 are oppositely arranged, and each supporting arm 843 is provided with a clamping assembly 844 for clamping the upper supporting mechanism 2 or the lower supporting mechanism 3. Through the mechanism, the upper string (upper insulator string) and the lower string (lower insulator string) of the left and right split structure of the robot body can be realized. Wherein, the retractable member 842 can be an electric push rod as required, and the clamping assembly 844 can be an electric clamping jaw or other electric or even pneumatic or hydraulic driven clamping mechanism as required.
When a certain post insulator needs to be cleaned or detected, the ground auxiliary assembling and disassembling mechanism 8 is moved to the position near the insulator post to be operated. The robot body reaches the bottommost position of the insulator by adjusting the rotary platform and the vertical telescopic mechanism of the lifting and rotating assembly 82. The telescopic assembly 83 correspondingly wraps the insulator string to be operated with the left and right split structures of the robot body, and the telescopic member 842 is opened and closed to attach the left and right split structures of the robot body. The telescopic self-locking assembly 6 works to enable the left and right split structures of the robot body to be fixed and self-locked. Then, the clamping assemblies 4 of the upper support mechanism 2 and the lower support mechanism 3 of the robot body clamp the sheds of the insulators, so that the clamping assemblies 844 can be loosened, the retractable members 842 can be opened and closed to release the robot body, and stringing (upper insulator string) on the robot body is completed.
The working principle of the post insulator cleaning robot of the substation in the embodiment is as follows: the electric push rod 1 has a telescopic function, when the pole climbing action is executed, the clamping component 4 of the lower supporting mechanism 3 is firstly clamped, and the clamping component 4 of the upper supporting mechanism 2 is loosened. Then the electric push rod 1 extends, and the upper supporting mechanism 2 drives the clamping state monitoring camera 7 to move upwards, as shown in fig. 6. When the next insulator umbrella skirt edge appears in the visual field of the clamping state monitoring camera 7, the length of the electric push rod 1 is automatically adjusted through image processing work, so that the clamping assembly 4 of the upper supporting mechanism 2 is kept flush with the insulator umbrella skirt edge, and the clamping assembly 4 of the upper supporting mechanism 2 is clamped. The clamping assembly 4 of the lower support mechanism 3 is released. And (3) contracting the electric push rod 1, moving the lower support mechanism 3 upwards and clamping the umbrella skirt edge of the insulator by the method to finish a climbing movement period. Every time the climbing movement is completed, the cleaning assembly 5 cleans the layer of insulators, and the detection camera 54 detects the layer of insulators.
In addition, this embodiment also provides an application method of the foregoing transformer substation post insulator cleaning robot, including a step in which a robot body climbs along the insulator of the transformer substation post, and the climbing decomposition step includes:
b1, firstly clamping the clamping component 4 of the lower support mechanism 3 to the umbrella skirt edge of the insulator, then loosening the clamping component 4 of the upper support mechanism 2 to the umbrella skirt edge of the insulator, and then extending the electric push rod 1 to enable the position of the upper support mechanism 2 to be lifted;
and B2, firstly clamping the clamping component 4 of the upper supporting mechanism 2 to the umbrella skirt of the insulator, then loosening the clamping component 4 of the lower supporting mechanism 3 to the umbrella skirt of the insulator, and then contracting the electric push rod 1, so that the position of the lower supporting mechanism 3 and the whole position of the robot body are lifted.
A climbing movement period can be completed through the steps B1 and B2, and the cleaning assemblies 5 of the upper supporting mechanism 2 and the lower supporting mechanism 3 clean and detect corresponding insulator discs after each climbing movement is completed. When the clamping state monitoring camera 7 detects the flange on the way of ascending or descending, the electric push rod 1 can be controlled to be additionally extended or shortened so that the robot body can cross the flange.
In this embodiment B1, the method further includes the step of stringing the robot body by the ground auxiliary attachment/detachment mechanism 8:
a1, the robot body is divided into a left part and a right part which are respectively arranged on the clamping assemblies 844 of the two supporting arms 843 of the body assembling and disassembling assembly 84, and each telescopic self-locking assembly 6 is in a divided state;
a2, controlling the supporting platform 81 to move to the vicinity of the insulator pole to be operated;
a3, the robot body is sent to the bottommost part of the insulator string by matching with the extension and contraction of the telescopic component 83 through the lifting and rotation adjustment of the lifting and rotating component 82;
a4, controlling the two supporting arms 843 of the body assembling and disassembling component 84 to be folded, and controlling the telescopic self-locking components 6 to start to be combined, so that the robot body is combined, and the umbrella skirt of the insulator is clamped through the clamping component 4, and the robot body is installed.
In the process that the robot body climbs along the insulator of the transformer substation support, the insulator string can be cleaned and detected through the cleaning assembly 5 and the camera on the upper layer and the lower layer.
After the operation is finished, the body descends to the bottom of the insulator string and is disassembled and recovered (discharged) by the ground auxiliary assembling and disassembling mechanism 8, and cleaning and detection results are uploaded to the control center. The step of using the ground auxiliary assembly and disassembly mechanism 8 to realize the stringing-down of the robot body is opposite to the step of stringing-up, and therefore, the description is omitted.
In addition, in the process that the robot body climbs along the insulator of the substation column, step B1 of this embodiment further includes a step of performing insulator umbrella skirt identification by using the insulator image collected by the clamping state monitoring camera 7 or the detection camera 54 or other cameras, and the detailed steps include:
1) extracting all edges in the insulator image, removing straight line segments and leaving curve segments;
2) calculating the concavity and convexity of all the curve segments, and only reserving the curve segments only with concavity and convexity;
3) judging whether the curve segment is a part of an ellipse or not for each curve segment, if so, retaining the curve segment and recording the corresponding elliptic secondary curve coordinate of the curve segment, and performing duplication removal for the elliptic secondary curve coordinate;
4) and clustering all the ellipses by using a clustering algorithm to obtain the ellipses of the umbrella skirt edges of the insulators.
5) And calculating the ratio of the long side to the short side of the ellipse of each insulator umbrella skirt edge, and selecting the flattest ellipse as the ellipse of the target insulator umbrella skirt edge finally identified so as to control the length of the extension of the electric push rod 1 to enable the clamping assembly 4 of the upper supporting mechanism 2 to be flush with the insulator umbrella skirt edges, so that the robot body can clean dirt between the umbrella skirt edges. When the electric push rod 1 is retracted in step B2, the clamping assembly 4 of the lower support mechanism 3 is kept flush with the insulator umbrella skirt, so that the position of the lower support mechanism 3 and the overall position of the robot body are raised.
In this embodiment, the detailed steps of step 1) include:
1.1) carrying out binarization processing on the insulator image and extracting a skeleton of the insulator image;
1.2) aiming at the extracted skeleton, searching a first white point in the image by traversing, then, starting from the point to extend to two sides to search for adjacent points, storing the point and then putting the point black when finding one point, and when finding a point without the adjacent point, indicating that the end search is finished and determining one end of the line segment; finally finding out all straight line segments and curve segments in the skeleton;
1.3) removing the stored straight line segments by adopting Hough straight line detection to leave curve segments.
In this embodiment, the detailed steps of step 2) include:
2.1) calculating the concavity and convexity f (x, y) of all curve segments according to the following formula;
in the above formula, f (x, y) is the calculation result of the unevenness, and (x, y) is the horizontal and vertical coordinates of a certain point on the edge line; x is the number ofLAnd xRLeft and right end points, y, respectively representing the abscissa of the edge lineLAnd yRRespectively representing the left end point and the right end point of the edge line vertical coordinate; the subscript L represents the left end point of the edge line coordinates and R represents the right end point of the edge line coordinates.
2.2) aiming at the roughness f (x, y) of each curve segment, if the roughness f (x, y) is constantly larger than zero, the curve segment is convex, if the roughness f (x, y) is constantly smaller than zero, the curve segment is concave, the curve segment is kept, and if the roughness f (x, y) has a different sign result, the curve segment is judged to be not satisfied with the requirement and is deleted.
In this embodiment, the detailed steps of step 3) include:
3.1) constructing an edge point set D from the curve segment, initializing the value of a counter C to be 0, and setting a cycle count k to be 0;
3.2) randomly selecting 5 points p 1-p 5 from the edge point set D;
3.3) determination of the quadratic curve Ax by means of the 5 points p1 to p52+Bxy+Cy2A parameter a, B, C, D, E where x, y denote the coordinates of the point, if and only if B is satisfied, where + Dx + Ey +1 ═ 02-4AC>When 0, judging the quadratic curve is an ellipse, executing the step 3.4), otherwise, skipping to execute the step 3.5);
3.4) substitution of the point p6 into the quadratic curve Ax defined by the points p1 to p5 from the point p6 randomly in the edge point set D2+Bxy+Cy2+ Dx + Ey +1 ═ 0 gives d6 ═ Ax6 2+Bx6y6+cy6 2+Dx6+Ey6+1|, where d6 denotes the absolute value of the distance of P6 from the ellipse P, x6,y6Coordinates representing point p 6;
3.5) traversing all edge points in the edge point set D, calculating the distance D between the edge point and a possible ellipse, adding 1 to a counter C if D is less than or equal to an allowable error delta, removing the edge point from the edge point set D, and storing the edge point into a possible ellipse edge point set P; otherwise, skipping to execute the step 3.6); if the value of the counter C is greater than a threshold value TgIf the possible ellipse is a real ellipse, outputting a quadratic curve and a central point coordinate, otherwise, exiting;
3.6) adding 1 to the loop count k, if the loop count k is larger than the specified maximum loop time Kmax, ending, otherwise, skipping to execute the step 3.2).
In this embodiment, the step 4) of clustering all ellipses by using a clustering algorithm to obtain the ellipse of the insulator umbrella skirt specifically means that the center coordinates of the ellipses are clustered by using the clustering algorithm, and the ellipse of the cluster with the smallest difference between the center Y coordinate of the ellipse and the center Y coordinate of the insulator is reserved as the ellipse of the insulator umbrella skirt obtained by clustering according to the clustering result.
In the application method of the cleaning robot for the post insulators of the substation, when the cleaning assembly 5 is adopted by the robot body to clean the insulators, the cleaning robot further comprises the step of classifying the contamination of the insulators to determine different cleaning times, wherein the detailed step of classifying the contamination of the insulators comprises the following steps:
s1) collecting an insulator image;
s2) filtering the background interference and noise of the insulator image and dividing the image into insulator sub-images;
s3) respectively converting the RGB images of the insulator sub-images into an LAB color model and an HSI color model, and taking the mean value as a color characteristic value;
s4) inputting the color characteristic value into a machine learning classification model which is trained in advance to obtain insulator pollution classification results of each insulator, wherein the machine learning classification model is trained in advance to establish mapping between the color characteristic value of each insulator and the insulator pollution classification results.
In the embodiment, the average value of the color components is provided to express the color characteristics through the stronger color difference resolution capability of the LAB and the stronger visual perception capability of the HSI, and finally, a classification model is constructed through an SVM (support vector machine) support vector machine to classify the insulator contamination, so that the classification accuracy is improved. When the RGB image of each insulator subgraph is converted into an LAB color model respectively, the RGB color space can not be directly converted into an LAB color space, the RGB color space is converted into an XYZ color space by means of the XYZ color space, and then the XYZ color space is converted into the Lab color space, namely: RGB- > XYZ, and then XYZ- > LAB. Since the color space conversion method is a conventional method, the detailed steps will not be described herein. The color space conversion method for respectively converting the RGB images of the insulator subgraphs into the HSI color model is a conventional known method, so the detailed steps are not explained again;
in this embodiment, the machine learning classification model is an SVM classifier, and step S4) includes a step of performing parameter optimization on the SVM classifier by using a genetic algorithm to determine a penalty parameter of an RBF kernel function c and a g kernel function parameter, so that sample training data which is linearly inseparable in a low-dimensional space is mapped to a high-dimensional feature space through the RBF kernel function c to become linearly separable. As an optional implementation manner, in the embodiment, the insulator contamination classification results of the machine learning classification model which is trained in advance are totally divided into five grades, so that image information of 5 insulators with different contamination grades needs to be collected during training, images of the insulators are respectively calibrated, background interference and noise caused by dust and the like are filtered by mean filtering, and image segmentation is performed. The detailed training step of the SVM classifier comprises the following steps:
b1, constructing a training set and a testing set by collecting insulator images, and attaching labels to the training set and the testing set respectively;
b2, performing parameter optimization on the SVM classifier by using the training set and the labels thereof and adopting a genetic algorithm to determine the penalty parameter of the RBF kernel function c and the g kernel function parameter, thereby mapping the sample training data which is linear and inseparable in the low-dimensional space to the high-dimensional feature space through the RBF kernel function c to become linearly separable. The method comprises the following steps of performing parameter optimization on an SVM classifier by adopting a genetic algorithm to determine an RBF kernel function c penalty parameter and a g kernel function parameter: (1) preparing sample data; (2) initializing internal parameters of a genetic algorithm; (3) generating parameter pairs, and searching parameters with the best fitness on a training set by using cross validation; (4) and (5) retraining by using the optimal parameters to obtain a support vector machine prediction model.
And step three, training the SVM classifier by using a training set and a label thereof according to the optimally determined penalty parameter of the RBF kernel function c and the g kernel function parameter, and then completing the training of the SVM classifier by using the standard rate of the test result of the test set if the standard rate meets the requirement, otherwise, continuing to execute B1 to train the SVM classifier.
In conclusion, the cleaning robot for the post insulator of the transformer substation and the application method thereof can effectively improve the cleaning and detection efficiency of the post insulator and greatly improve the safety of live cleaning of the insulator.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. The utility model provides a post insulator of transformer substation cleans machine people, includes the robot body, its characterized in that, the robot body includes a set of electric putter (1), the upper end of electric putter (1) is connected with supporting mechanism (2), lower extreme jointly is connected with lower supporting mechanism (3), all be equipped with on going up supporting mechanism (2), lower supporting mechanism (3) and be a plurality of tight subassemblies (4) of clamp around arranging with the centre gripping insulator edge, it has subassembly (5) that cleans that is used for cleaning the insulator outer wall to go up at least one of supporting mechanism (2), lower supporting mechanism (3) in both.
2. The substation post insulator cleaning robot according to claim 1, wherein the upper supporting mechanism (2) comprises an upper support (21) formed by splicing two half rings into a ring, the lower supporting mechanism (3) comprises a lower support (31) formed by splicing two half rings into a ring, the half rings of the upper support (21) and the lower support (31) are connected through an electric push rod (1) respectively so that the robot body can form a split structure with the left part and the right part being separable, a telescopic self-locking assembly (6) is connected between the two half rings of the upper support (21), and another telescopic self-locking assembly (6) is connected between the two half rings of the lower support (31).
3. The substation post insulator cleaning robot according to claim 2, wherein the telescopic self-locking assembly (6) comprises a self-locking bolt (61) and a sleeve (62) which are matched with each other, a self-locking nut (63) is arranged on the sleeve (62), the self-locking nut (63) and the self-locking bolt (61) are in threaded fit, one of the self-locking bolt (61) and the sleeve (62) is provided with a rotating motor (64), and the rotating motor (64) is used for driving one of the self-locking bolt (61) and the sleeve (62) to rotate so that the distance between the self-locking bolt and the sleeve (62) is shortened or lengthened to realize the aperture adjustment of the annular splicing of the two semi-rings.
4. The substation post insulator cleaning robot according to claim 3, wherein a sliding groove or sliding rail (621) arranged along the length direction is arranged inside the sleeve (62), a movable baffle (622) is arranged on the sliding groove or sliding rail (621) in a sliding manner, a spring (623) is arranged between the inner side wall of the movable baffle (622) and the inner wall of the sleeve (62), and the self-locking nut (63) is fixedly mounted on the outer side wall of the movable baffle (622).
5. The substation post insulator cleaning robot according to claim 1, wherein at least one of the electric push rod (1), the upper support mechanism (2) and the lower support mechanism (3) is provided with at least one clamping state monitoring camera (7) at the position of the telescopic self-locking assembly (6).
6. The substation post insulator cleaning robot according to claim 1, wherein the clamping assembly (4) is an arc-shaped clamping piece, and an insulator umbrella skirt positioning groove (41) arranged along the length direction is formed in the inner side clamping surface of the clamping assembly.
7. The substation post insulator cleaning robot according to claim 1, wherein the cleaning assembly (5) comprises an arc-shaped rail (51) and a sliding seat (52) arranged on the side surface of the arc-shaped rail (51) in a sliding manner, the sliding seat (52) and the arc-shaped rail (51) are matched through a gear and a rack, a first driving motor for driving the sliding seat (52) to move is installed between the sliding seat (52) and the arc-shaped rail (51), the cleaning motor is installed on the sliding seat (52), and a brush roller (53) is installed on an output shaft of the cleaning motor.
8. The substation post insulator cleaning robot according to claim 7, wherein a detection camera (54) is further slidably arranged on the top surface of at least one of the arc-shaped rails (51), the detection camera (54) and the arc-shaped rails (51) are matched through a gear and a rack, and a second driving motor for driving the detection camera (54) to move is installed between the detection camera (54) and the arc-shaped rails (51).
9. The substation post insulator cleaning robot according to claim 1, further comprising a ground auxiliary loading and unloading mechanism (8), wherein the ground auxiliary loading and unloading mechanism (8) comprises a supporting platform (81), a lifting and rotating assembly (82), a telescopic assembly (83) and a body loading and unloading assembly (84) for loading and unloading a robot body, the body loading and unloading assembly (84) is mounted on the lifting and rotating assembly (82) through the telescopic assembly (83), the lifting and rotating assembly (82) is mounted and supported on the supporting platform (81), the body loading and unloading assembly (84) comprises a base (841), two sides of the base (841) are respectively provided with an opening and closing telescopic component (842), a supporting arm (843) is mounted at the end of the opening and closing telescopic component (842), the two supporting arms (843) are arranged oppositely, and each supporting arm (843) is provided with a clamping assembly for clamping the upper supporting mechanism (2) or the lower supporting mechanism (3) (844).
10. The application method of the substation post insulator cleaning robot as claimed in any one of claims 1-9, comprising a step of climbing the robot body along the insulator of the substation post, wherein the climbing decomposition step comprises:
b1, firstly clamping the clamping assembly (4) of the lower supporting mechanism (3) to the umbrella skirt edge of the insulator, then loosening the clamping assembly (4) of the upper supporting mechanism (2) to the umbrella skirt edge of the insulator, and then extending the electric push rod (1) to enable the position of the upper supporting mechanism (2) to be lifted;
b2, firstly clamping the clamping assembly (4) of the upper supporting mechanism (2) to the umbrella skirt edge of the insulator, then loosening the clamping assembly (4) of the lower supporting mechanism (3) to the umbrella skirt edge of the insulator, and then contracting the electric push rod (1) so that the position of the lower supporting mechanism (3) and the overall position of the robot body are lifted.
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| CN112044835A (en) * | 2020-08-27 | 2020-12-08 | 国网河南省电力公司西峡县供电公司 | Power transmission line insulator cleaning robot and method |
| CN114104136A (en) * | 2021-11-10 | 2022-03-01 | 国网江苏省电力有限公司检修分公司 | Intelligent cleaning equipment for insulator of electrical equipment of transformer substation |
| CN115502147A (en) * | 2022-08-29 | 2022-12-23 | 祝桥金属材料启东有限公司 | Strip steel edge spraying and blowing device |
| CN118029286A (en) * | 2024-04-11 | 2024-05-14 | 贵州桥梁建设集团有限责任公司 | Manipulator for suspension bridge construction |
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| CN109365406A (en) * | 2018-11-20 | 2019-02-22 | 宁波恒晨电力建设有限公司 | A kind of climbing sweeping robot for substation's support insulator |
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| CN108858216A (en) * | 2018-06-21 | 2018-11-23 | 长沙理工大学 | A kind of Work robot with taper roofbolt climbing function |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112044835A (en) * | 2020-08-27 | 2020-12-08 | 国网河南省电力公司西峡县供电公司 | Power transmission line insulator cleaning robot and method |
| CN114104136A (en) * | 2021-11-10 | 2022-03-01 | 国网江苏省电力有限公司检修分公司 | Intelligent cleaning equipment for insulator of electrical equipment of transformer substation |
| CN114104136B (en) * | 2021-11-10 | 2022-10-21 | 国网江苏省电力有限公司检修分公司 | Intelligent cleaning equipment for insulator of electrical equipment of transformer substation |
| CN115502147A (en) * | 2022-08-29 | 2022-12-23 | 祝桥金属材料启东有限公司 | Strip steel edge spraying and blowing device |
| CN115502147B (en) * | 2022-08-29 | 2023-10-13 | 祝桥金属材料启东有限公司 | Strip steel edge blowing device |
| CN118029286A (en) * | 2024-04-11 | 2024-05-14 | 贵州桥梁建设集团有限责任公司 | Manipulator for suspension bridge construction |
| CN118029286B (en) * | 2024-04-11 | 2024-06-11 | 贵州桥梁建设集团有限责任公司 | Manipulator for suspension bridge construction |
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